Based on a model reference adaptive control approach, a robust controller for a one link flexible arm moving along a pre-defined trajectory is proposed. In order to satisfy the perfect model following conditions, the model ...

A robust tracking controller for a one-link flexible arm based on a model reference adaptive control approach is proposed. In order to satisfy the model matching conditions, the reference model is chosen to be the optimally ...

A robust adaptive control is derived by signal-synthesis methods for a light, flexible two degree-of-freedom manipulator. The controller for each joint is decentralized, using measurements of one joint's position as ...

In exchange for light weight in the design of arms, one must accept an increase in system flexibility and the associated difficulty in accurately controlling a flexible structure. Both rigid body motions and flexural ...

Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust ...